\hypertarget{class_model}{}\section{Model类 参考}
\label{class_model}\index{Model@{Model}}


机器人数据模型  




{\ttfamily \#include $<$model.\+h$>$}

类 Model 继承关系图\+:\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=2.000000cm]{class_model}
\end{center}
\end{figure}
\subsection*{Public 类型}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_model_a639d17254535dbda93359bed8722e6c7}{}enum \hyperlink{class_model_a639d17254535dbda93359bed8722e6c7}{Action\+Type} \{ {\bfseries M\+A\+S\+T\+E\+R\+\_\+\+R\+O\+T\+A\+T\+E} =0, 
{\bfseries A\+S\+S\+I\+S\+T\+A\+N\+T\+\_\+\+R\+O\+T\+A\+T\+E} =1, 
{\bfseries B\+A\+R\+\_\+\+R\+O\+T\+A\+T\+E} =2, 
{\bfseries B\+A\+R\+\_\+\+M\+O\+V\+E} =3
 \}\label{class_model_a639d17254535dbda93359bed8722e6c7}

\begin{DoxyCompactList}\small\item\em 动作类型 \end{DoxyCompactList}\item 
\hypertarget{class_model_a997cd2b5b12b228bfbcdc1829e75352b}{}enum \hyperlink{class_model_a997cd2b5b12b228bfbcdc1829e75352b}{Model\+Type} \{ {\bfseries B\+A\+S\+E} =0, 
{\bfseries M\+A\+S\+T\+E\+R} =1, 
{\bfseries A\+S\+S\+I\+S\+T\+A\+N\+T} =2, 
{\bfseries B\+A\+R} =3
 \}\label{class_model_a997cd2b5b12b228bfbcdc1829e75352b}

\begin{DoxyCompactList}\small\item\em 模型部位 \end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Public 成员函数}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_model_ae3b375de5f6df4faf74a95d64748e048}{}\hyperlink{class_model_ae3b375de5f6df4faf74a95d64748e048}{Model} ()\label{class_model_ae3b375de5f6df4faf74a95d64748e048}

\begin{DoxyCompactList}\small\item\em A constructor. \end{DoxyCompactList}\item 
\hypertarget{class_model_ad6ebd2062a0b823db841a0b88baac4c0}{}\hyperlink{class_model_ad6ebd2062a0b823db841a0b88baac4c0}{$\sim$\+Model} ()\label{class_model_ad6ebd2062a0b823db841a0b88baac4c0}

\begin{DoxyCompactList}\small\item\em A destructor. \end{DoxyCompactList}\item 
\hypertarget{class_model_a7277e94b38e6f196f34499a3e9996348}{}const Q\+Vector$<$ float $>$ \& \hyperlink{class_model_a7277e94b38e6f196f34499a3e9996348}{get\+Model\+Verteces} () const \label{class_model_a7277e94b38e6f196f34499a3e9996348}

\begin{DoxyCompactList}\small\item\em 获取模型顶点 \end{DoxyCompactList}\item 
\hypertarget{class_model_ada3d4d3d12d9b59be940584df5231cf9}{}const Q\+Vector$<$ float $>$ \& \hyperlink{class_model_ada3d4d3d12d9b59be940584df5231cf9}{get\+Model\+Normals} () const \label{class_model_ada3d4d3d12d9b59be940584df5231cf9}

\begin{DoxyCompactList}\small\item\em 获取模型法向量 \end{DoxyCompactList}\item 
\hypertarget{class_model_afd605efc0857e7b3789981585e904196}{}unsigned int \hyperlink{class_model_afd605efc0857e7b3789981585e904196}{get\+Model\+Verteces\+Num} (\hyperlink{class_model_a997cd2b5b12b228bfbcdc1829e75352b}{Model\+Type} model\+Type) const \label{class_model_afd605efc0857e7b3789981585e904196}

\begin{DoxyCompactList}\small\item\em 获取模型顶点数目 \end{DoxyCompactList}\item 
\hypertarget{class_model_a4f3fd5b3fc2b7eb384a43c5467dd61fd}{}void \hyperlink{class_model_a4f3fd5b3fc2b7eb384a43c5467dd61fd}{reset\+Value} ()\label{class_model_a4f3fd5b3fc2b7eb384a43c5467dd61fd}

\begin{DoxyCompactList}\small\item\em 重置机器人位置 \end{DoxyCompactList}\item 
\hypertarget{class_model_a6481ca1940a8fc95128fc599f984b53b}{}float \hyperlink{class_model_a6481ca1940a8fc95128fc599f984b53b}{Calc\+Cur\+Value} (\hyperlink{class_model_a639d17254535dbda93359bed8722e6c7}{Action\+Type} action\+Type, float spend\+Seconds, bool $\ast$reached)\label{class_model_a6481ca1940a8fc95128fc599f984b53b}

\begin{DoxyCompactList}\small\item\em 计算指定部位当前位置 \end{DoxyCompactList}\item 
\hypertarget{class_model_a7546bab2ac5a2b61d0b67bf4037f47b1}{}float \hyperlink{class_model_a7546bab2ac5a2b61d0b67bf4037f47b1}{get\+Cur\+Value} (\hyperlink{class_model_a639d17254535dbda93359bed8722e6c7}{Action\+Type} action\+Type)\label{class_model_a7546bab2ac5a2b61d0b67bf4037f47b1}

\begin{DoxyCompactList}\small\item\em 获取当前位置 \end{DoxyCompactList}\item 
\hypertarget{class_model_a2d2eb5dad350bc6c4e5c5c139c386962}{}bool \hyperlink{class_model_a2d2eb5dad350bc6c4e5c5c139c386962}{set\+Cur\+Value} (\hyperlink{class_model_a639d17254535dbda93359bed8722e6c7}{Action\+Type} action\+Type, float value)\label{class_model_a2d2eb5dad350bc6c4e5c5c139c386962}

\begin{DoxyCompactList}\small\item\em 设置当前位置 \end{DoxyCompactList}\item 
\hypertarget{class_model_a23de1d1474c165434da6062cc10f7b19}{}bool \hyperlink{class_model_a23de1d1474c165434da6062cc10f7b19}{add\+Cur\+Value} (\hyperlink{class_model_a639d17254535dbda93359bed8722e6c7}{Action\+Type} action\+Type, float value)\label{class_model_a23de1d1474c165434da6062cc10f7b19}

\begin{DoxyCompactList}\small\item\em 对当前位置添加指定的值 \end{DoxyCompactList}\item 
\hypertarget{class_model_a988c677235850227b0282994e3fb1a48}{}bool \hyperlink{class_model_a988c677235850227b0282994e3fb1a48}{set\+Target\+Value} (\hyperlink{class_model_a639d17254535dbda93359bed8722e6c7}{Action\+Type} action\+Type, float angle, float speed=-\/1)\label{class_model_a988c677235850227b0282994e3fb1a48}

\begin{DoxyCompactList}\small\item\em 设置目标位置 \end{DoxyCompactList}\item 
bool \hyperlink{class_model_adb81699a23798935e5f5e83e804a8c3f}{set\+Speed} (\hyperlink{class_model_a639d17254535dbda93359bed8722e6c7}{Action\+Type} action\+Type, float speed)
\begin{DoxyCompactList}\small\item\em 设置运动速度 \end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Public 属性}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_model_a2af08d9c5e61fd4db1fce69ce2badabd}{}Q\+Matrix4x4 {\bfseries matrix\+\_\+base}\label{class_model_a2af08d9c5e61fd4db1fce69ce2badabd}

\item 
\hypertarget{class_model_aea525ae8dde333edf43ea29b64e23b09}{}Q\+Matrix4x4 {\bfseries matrix\+\_\+master}\label{class_model_aea525ae8dde333edf43ea29b64e23b09}

\item 
\hypertarget{class_model_aa93bced170459938899a816b8c50455b}{}Q\+Matrix4x4 {\bfseries matrix\+\_\+assistant}\label{class_model_aa93bced170459938899a816b8c50455b}

\item 
\hypertarget{class_model_a2cd241b7146cb659f1cd8e7109dd1cd9}{}Q\+Matrix4x4 {\bfseries matrix\+\_\+bar}\label{class_model_a2cd241b7146cb659f1cd8e7109dd1cd9}

\item 
\hypertarget{class_model_a2a0261ebfb0fdd46a242cded0b387d6c}{}Q\+Matrix4x4 {\bfseries action\+\_\+master}\label{class_model_a2a0261ebfb0fdd46a242cded0b387d6c}

\item 
\hypertarget{class_model_abcf0721253ac3ac8239706fb10c14f6a}{}Q\+Matrix4x4 {\bfseries action\+\_\+assistant}\label{class_model_abcf0721253ac3ac8239706fb10c14f6a}

\item 
\hypertarget{class_model_a1b619194a4f3693f567ba793cfefaea1}{}Q\+Matrix4x4 {\bfseries action\+\_\+bar}\label{class_model_a1b619194a4f3693f567ba793cfefaea1}

\item 
\hypertarget{class_model_ad7bdcd7f21a340816db7dd8d5e34f3e0}{}Q\+Matrix4x4 {\bfseries action\+\_\+bar\+\_\+move}\label{class_model_ad7bdcd7f21a340816db7dd8d5e34f3e0}

\item 
\hypertarget{class_model_a8666c9508a3b652b291da8a4eb7198fa}{}Q\+Matrix4x4 {\bfseries center\+\_\+base}\label{class_model_a8666c9508a3b652b291da8a4eb7198fa}

\item 
\hypertarget{class_model_a91a1c012411db17700647dd3b67ca885}{}Q\+Matrix4x4 {\bfseries center\+\_\+master}\label{class_model_a91a1c012411db17700647dd3b67ca885}

\item 
\hypertarget{class_model_afc99744645ea3447cb75be2c3c2addcc}{}Q\+Matrix4x4 {\bfseries center\+\_\+assistant}\label{class_model_afc99744645ea3447cb75be2c3c2addcc}

\item 
\hypertarget{class_model_a38dfc1bbb85eb6558ba212efcd2819af}{}Q\+Matrix4x4 {\bfseries center\+\_\+bar}\label{class_model_a38dfc1bbb85eb6558ba212efcd2819af}

\end{DoxyCompactItemize}


\subsection{详细描述}
机器人数据模型 

\subsection{成员函数说明}
\hypertarget{class_model_adb81699a23798935e5f5e83e804a8c3f}{}\index{Model@{Model}!set\+Speed@{set\+Speed}}
\index{set\+Speed@{set\+Speed}!Model@{Model}}
\subsubsection[{set\+Speed}]{\setlength{\rightskip}{0pt plus 5cm}bool Model\+::set\+Speed (
\begin{DoxyParamCaption}
\item[{{\bf Action\+Type}}]{action\+Type, }
\item[{float}]{speed}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [inline]}}\label{class_model_adb81699a23798935e5f5e83e804a8c3f}


设置运动速度 


\begin{DoxyParams}{参数}
{\em action\+Type} & 动作类型 \\
\hline
{\em speed} & 速度(1-\/100) \\
\hline
\end{DoxyParams}


该类的文档由以下文件生成\+:\begin{DoxyCompactItemize}
\item 
model.\+h\item 
model.\+cpp\end{DoxyCompactItemize}
